CN218313610U - Servo control-based power-assisted mechanical arm - Google Patents

Servo control-based power-assisted mechanical arm Download PDF

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Publication number
CN218313610U
CN218313610U CN202222380425.2U CN202222380425U CN218313610U CN 218313610 U CN218313610 U CN 218313610U CN 202222380425 U CN202222380425 U CN 202222380425U CN 218313610 U CN218313610 U CN 218313610U
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CN
China
Prior art keywords
seat
rod
motor
mechanical arm
fixedly connected
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Expired - Fee Related
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CN202222380425.2U
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Chinese (zh)
Inventor
冯会志
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Shijiazhuang Teyiyou Technology Co ltd
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Shijiazhuang Teyiyou Technology Co ltd
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Priority to CN202222380425.2U priority Critical patent/CN218313610U/en
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Publication of CN218313610U publication Critical patent/CN218313610U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a helping hand arm technical field specifically discloses a helping hand arm based on servo control, which comprises a supporting bar, a supporting seat, a fixed base, both ends rotate the bull stick of being connected with supporting seat and fixing base respectively, both ends rotate the locating lever of being connected with supporting seat and fixing base respectively, positioning seat and centre gripping subassembly, supporting seat bottom rigid coupling has rotates the connecting rod of being connected with the bracing piece top, supporting seat outer wall rigid coupling has the corner subassembly, the fixing base bottom is rotated and is connected with the steering column, be equipped with in the fixing base and be used for driving steering column pivoted second motor, steering column one end rigid coupling has the return bend, the return bend bottom is equipped with auxiliary rod and telescopic assembly, the auxiliary rod bottom is equipped with the accent to the subassembly, be equipped with on the auxiliary tube and be used for driven controller and the control cabinet of being connected with the controller electricity, traditional helping hand arm adopts hydraulic drive's mode to drive, be difficult to clearing up the problem of maintaining helping hand arm after hydraulic oil is revealed.

Description

Servo control-based power-assisted mechanical arm
Technical Field
The application relates to the technical field of power-assisted mechanical arms, and particularly discloses a power-assisted mechanical arm based on servo control.
Background
A servo system (also called a servo system) is a feedback control system for accurately following or reproducing a process. The servo system is an automatic control system which can make the output controlled quantity of the position, the direction, the state and the like of an object follow the arbitrary change of an input target (or a given value). The main task of the device is to amplify, transform, regulate and control the power according to the requirement of a control command, so that the control of the torque, the speed and the position output by the driving device is very flexible and convenient;
the mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. The power-assisted mechanical arm is a further improvement of the traditional mechanical arm, and the goods are clamped and carried in an auxiliary mode through the power-assisted mechanical arm.
Traditional helping hand arm all carries out work through hydraulic drive's mode, but hydraulic drive's mode, and expensive and hydraulic oil is revealed easily, influences the use and the maintenance of arm.
Therefore, the present invention provides a servo-controlled assist robot arm to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve traditional helping hand arm and adopt hydraulic drive's mode to drive, be difficult to after hydraulic oil reveals the problem of clearing up and maintaining helping hand arm.
In order to achieve the above object, the basic scheme of the present invention provides a servo-control-based assisting mechanical arm, which comprises a support rod, a support seat, a fixed seat, a rotating rod with two ends rotatably connected with the support seat and the fixed seat respectively, a positioning seat and a clamping assembly;
the bottom end of the supporting seat is fixedly connected with a connecting rod rotatably connected with the top end of the supporting rod, the outer wall of the supporting seat is fixedly connected with a corner component used for controlling the angle of the rotating rod, the bottom end of the fixing seat is rotatably connected with a steering rod, a second motor used for driving the steering rod to rotate is arranged in the fixing seat, one end, away from the fixing seat, of the steering rod is fixedly connected with a bent pipe, and the bottom end of the bent pipe is provided with an auxiliary rod and a length-adjustable telescopic component used for connecting the bent pipe with the auxiliary pipe;
the direction adjusting component for adjusting the angle of the clamping component is arranged at the bottom end of the auxiliary pipe, and the auxiliary pipe is provided with a controller for driving and a control console electrically connected with the controller.
The principle and effect of this basic scheme lie in:
1. the utility model discloses a bracing piece, supporting seat, fixing base support whole equipment, regulate and control the angle between supporting seat and the fixing base through bull stick and locating lever, adjust the angle and the height of centre gripping subassembly through steering column and return bend, later realize pressing from both sides, gripping and the transport to article through controller cooperation centre gripping subassembly.
2. The utility model discloses wholly through the controller as the control unit and the processing unit, through controller control centre gripping subassembly, corner subassembly, flexible subassembly, transfer to the motion of subassembly and second motor, the accessible is preset the procedure and is come from independently pressing from both sides and get, and does not adopt hydraulic drive's mode to carry out the drive and the motion of equipment, has solved traditional helping hand arm and has adopted hydraulic drive's mode to drive, is difficult to clear up the problem of maintaining helping hand arm after hydraulic oil reveals.
Further, the centre gripping subassembly includes the holder and locates the clamping jaw of holder both sides, is equipped with the fifth motor in the holder, and fifth motor output shaft coaxial coupling has the worm, and the equal rigid coupling of worm both sides holder terminal surface has the stopper, and the clamping jaw is equallyd divide do not rotate with the free end of the stopper of homonymy and is connected, still rotates respectively on the stopper to be connected with can mesh with the worm and with clamping jaw articulated runner. The rotation of the rotating wheel is driven by the rotation of the worm, and the clamping jaws are driven by the rotating wheel to move respectively, so that the clamping purpose is achieved.
Further, the inner walls of the clamping jaws are respectively provided with a pressure sensor electrically connected with the controller. The autonomous adjustment of the clamping force may be performed by force feedback provided by the pressure sensor to the controller.
Further, the corner subassembly includes that the rigid coupling is kept away from the guide holder of fixing base one side at the supporting seat, sliding connection and be used for driving the gliding first motor of slide pipe in the guide holder, and the top and the bull stick of slide pipe are located one section rotation connection in the supporting seat outside. The sliding tube is driven to slide by the driving of the first motor.
Further, the output shaft coaxial coupling of first motor has first threaded rod, and the sliding tube bottom is equipped with the holding tank, and the holding tank inner wall is equipped with the internal thread with first threaded rod meshing, and the sliding tube outer wall is equipped with the spout along the axis direction, is equipped with the through-hole with sliding tube sliding connection in the guide holder, and the through-hole inner wall is equipped with the slider with spout sliding connection. The sliding pipe is limited through the sliding relation between the sliding groove and the sliding block, can only slide, and is driven through threaded connection.
Further, flexible subassembly includes that the rigid coupling is at the second locating plate of return bend bottom, the first locating plate of rigid coupling on the accessory pipe top, the third motor of rigid coupling in second locating plate bottom and the screwed pipe of rigid coupling in first locating plate upper end, the output shaft coaxial coupling of third motor have with screwed pipe threaded connection's second threaded rod, still the rigid coupling has the telescopic link that is used for the direction between first locating plate and the second locating plate. The threaded pipe is driven through the threaded connection relation of the second threaded rod and the threaded pipe, the threaded pipe is made to move up and down, and guiding is conducted through the telescopic rod.
Furthermore, the outer wall of the auxiliary pipe can be detachably connected with an auxiliary handle. The auxiliary guide work is carried out on the auxiliary pipe through the auxiliary handle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a servo-control-based assisting mechanical arm according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a clamping assembly of a servo-controlled assisted robot according to an embodiment of the present disclosure;
fig. 3 shows a schematic diagram of a slide tube of a servo-controlled assisted mechanical arm according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a support rod 1, a bottom plate 2, a support seat 3, a rotating rod 4, a positioning table 5, a steering rod 6, a bent pipe 7, an auxiliary rod 8, a positioning seat 9, a first motor 10, a third motor 11, a fourth motor 12, a fifth motor 13, a guide seat 14, a sliding pipe 15, an expansion rod 16 and a clamping jaw 17.
The utility model provides a helping hand arm of machinery based on servo control, the embodiment is shown in figure 1, includes a bottom plate 2, installs a bracing piece 1 at the up end of bottom plate 2, installs a connecting rod on the bracing piece 1, and a supporting seat 3 is then installed on the top of connecting rod. At the outer wall of connecting rod one section, still cup jointed a rectangular plate, install first motor 10 on the rectangular plate, the output shaft coaxial coupling of first motor 10 has a first threaded rod. On the supporting seat 3, a guide seat 14 is further installed through the outer walls of the two sides, a through hole is formed in the guide seat 14, and two symmetrical vertical sliding blocks are integrally formed on the inner wall of the through hole. A sliding pipe 15 is installed on the guide seat 14, an accommodating groove is formed in the bottom end of the sliding pipe 15, and an internal thread meshed with the first threaded rod is turned in the accommodating groove. The outer wall of the sliding tube 15 is also symmetrically provided with two sliding grooves which can respectively accommodate the sliding blocks to slide in.
In the supporting seat 3, still install a set of swing assembly, swing assembly includes a location platform 5 and installs bull stick 4 and the locating lever with one side on location platform 5 respectively, and the both ends of bull stick 4 and locating lever are equallyd divide and are connected with supporting seat 3 and location platform 5 respectively, and the both ends of bull stick 4 are equallyd divide and are respectively can be in supporting seat 3 and location platform 5 internal rotation. The rotating rod 4 is arranged above the positioning rod, the left end part of the rotating rod 4 extends outwards and is provided with a steering groove, the side walls of the rotating rod 4 at the two sides of the steering groove are respectively provided with a rotating hole, a rotatable rotating roller is arranged between the two side walls of the rotating rod 4 through the rotating holes, and the top end of the sliding pipe 15 is welded with the middle section of the rotating roller.
A second motor is further installed in the right end of the positioning table 5, a steering rod 6 is further installed on the bottom face of the right end of the positioning table 5, the left end of the steering rod 6 is connected with an output shaft of the second motor, and the output shaft of the second motor rotates to drive the steering rod 6 to rotate. A bent pipe 7 is further installed at the right end of the steering rod 6, and the tail end of the bent pipe 7 is bent towards the direction of the bottom plate 2.
The third motor 11 is installed at the tail end of the bent pipe 7, an output shaft of the third motor 11 is coaxially connected with a second threaded rod, the second threaded rod is in threaded connection with a threaded pipe, and an inner thread in threaded connection with an outer thread of the second threaded rod is integrally formed on the inner wall of the threaded pipe. A first positioning plate is arranged at the bottom end of the threaded pipe, an auxiliary rod 8 is arranged below the first positioning plate, and a positioning seat 9 is arranged at the bottom end of the auxiliary rod 8. A second positioning plate is installed on the end face of the third motor 11, and four sets of telescopic rods 16 are installed between the first positioning plate and the second positioning plate.
A fourth motor 12 is installed in the positioning seat 9, and a hole for exposing an output shaft of the fourth motor 12 is formed in the positioning seat 9. A transmission rod is coaxially connected to an output shaft of the fourth motor 12, and a clamping assembly is installed at the tail end of the transmission rod. On the sub-lever 8, a control panel for mounting a handle and a controller is mounted. In this embodiment, the processing unit in the controller is a single chip microcomputer.
The clamping assembly comprises a clamping seat and clamping jaws 17 arranged on two sides of the clamping seat, the left end of the clamping seat is coaxially connected with the transmission rod, a fifth motor 13 is arranged at the right end of the clamping seat, and an output shaft of the fifth motor 13 is coaxially connected with a worm. And the first motor 10, the second motor, the third motor 11, the fourth motor 12 and the fifth motor 13 are all electrically connected with the controller and are all controlled by the controller. The controller adopts a singlechip, and the controller is electrically connected with a console.
The right end of the clamping seat is further provided with a limiting block relative to two sides of the worm respectively, the clamping jaws 17 are arranged at the end portions of the limiting blocks respectively, and the clamping jaws 17 can rotate around the end portions of the limiting blocks. A rotatable rotating wheel is respectively arranged in the limiting blocks, and teeth which can be meshed with the worm are integrally formed on the outer wall of the rotating wheel. And the rotating wheels are respectively hinged with the clamping jaws 17 at the same side. And the pressure sensor that is connected with the controller electricity is installed to the inboard of clamping jaw 17, and through pressure sensor's feedback, the controller can independently control the dynamics of centre gripping.
When the utility model is used, an instruction is firstly input through the control console, the first motor 10 is controlled through the controller, the output shaft of the first motor 10 can drive the first threaded rod to rotate when rotating, the first threaded rod drives the slide pipe 15 to rotate through the threads, but the slide pipe 15 can only slide up and down through the matching of the sliding chute and the sliding block, and when the output shaft of the first motor 10 rotates, the up-and-down swing of the rotating rod 4 can be controlled through the up-and-down movement of the slide pipe 15;
then, the rotation of an output shaft of a second motor arranged in the positioning table 5 can be controlled by a controller, and the rotation of the output shaft of the second motor can control the rotation of the steering rod 6 below the positioning table 5;
the third motor 11 can be controlled by the controller, the second threaded rod can be driven to rotate by the rotation of the output shaft of the third motor 11, the first positioning plate can be controlled to move up and down relative to the second positioning plate by the threaded connection of the second threaded rod and the threaded pipe and the limit between the first positioning plate and the second positioning plate;
the output shaft of the fourth motor 12 is controlled by the controller to rotate, so that the angle of the clamping assembly can be controlled;
the output shaft of the fifth motor 13 is controlled by the controller to rotate, so that the worm can be driven to rotate, the clamping jaw 17 is driven to rotate by meshing of teeth on the rotating wheel and the worm, and then the clamping jaw 17 is used for grabbing;
and through the feedback of the pressure sensor, the controller can adjust the clamping force of the clamping jaw 17 through a preset program to automatically clamp the workpiece and the article.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (7)

1. A servo control-based power-assisted mechanical arm is characterized by comprising a supporting rod, a supporting seat, a fixed seat, a rotating rod with two ends respectively rotatably connected with the supporting seat and the fixed seat, a positioning seat and a clamping assembly;
the bottom end of the supporting seat is fixedly connected with a connecting rod which is rotatably connected with the top end of the supporting rod, the outer wall of the supporting seat is fixedly connected with a corner component which is used for controlling the angle of the turning rod, the bottom end of the fixing seat is rotatably connected with a turning rod, a second motor which is used for driving the turning rod to rotate is arranged in the fixing seat, one end, far away from the fixing seat, of the turning rod is fixedly connected with a bent pipe, and the bottom end of the bent pipe is provided with an auxiliary rod and a telescopic component which is used for connecting the bent pipe and the auxiliary pipe and can adjust the length;
the bottom end of the auxiliary pipe is provided with a direction adjusting assembly for adjusting the angle of the clamping assembly, and the auxiliary pipe is provided with a controller for driving and a control console electrically connected with the controller.
2. The servo control-based power-assisted mechanical arm according to claim 1, wherein the clamping assembly comprises a clamping seat and clamping jaws arranged on two sides of the clamping seat, a fifth motor is arranged in the clamping seat, an output shaft of the fifth motor is coaxially connected with a worm, limiting blocks are fixedly connected to the end faces of the clamping seat on two sides of the worm, the clamping jaws are rotatably connected with free ends of the limiting blocks on the same side respectively, and rotating wheels which can be meshed with the worm and hinged to the clamping jaws are rotatably connected to the limiting blocks respectively.
3. The servo control-based power-assisted mechanical arm as claimed in claim 2, wherein the inner walls of the clamping jaws are respectively provided with a pressure sensor electrically connected with the controller.
4. The servo-control-based power-assisted mechanical arm according to claim 1, wherein the corner component comprises a guide seat fixedly connected to one side of the support seat away from the fixed seat, a slide tube slidably connected in the guide seat, and a first motor for driving the slide tube to slide, and the top end of the slide tube is rotatably connected with a section of the rotating rod located outside the support seat.
5. The servo-control-based power-assisted mechanical arm according to claim 4, wherein the output shaft of the first motor is coaxially connected with a first threaded rod, the bottom end of the sliding tube is provided with a containing groove, the inner wall of the containing groove is provided with an internal thread meshed with the first threaded rod, the outer wall of the sliding tube is provided with a sliding groove along the axial direction, a through hole slidably connected with the sliding tube is arranged in the guide seat, and the inner wall of the through hole is provided with a sliding block slidably connected with the sliding groove.
6. The servo control-based power-assisted mechanical arm according to claim 1, wherein the telescopic assembly comprises a second positioning plate fixedly connected to the bottom end of the elbow, a first positioning plate fixedly connected to the top end of the secondary pipe, a third motor fixedly connected to the bottom end of the second positioning plate, and a threaded pipe fixedly connected to the upper end of the first positioning plate, an output shaft of the third motor is coaxially connected with a second threaded rod in threaded connection with the threaded pipe, and a telescopic rod for guiding is fixedly connected between the first positioning plate and the second positioning plate.
7. The servo-control-based power-assisted mechanical arm as claimed in claim 1, wherein an auxiliary handle is detachably connected to the outer wall of the auxiliary tube.
CN202222380425.2U 2022-09-08 2022-09-08 Servo control-based power-assisted mechanical arm Expired - Fee Related CN218313610U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202222380425.2U CN218313610U (en) 2022-09-08 2022-09-08 Servo control-based power-assisted mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202222380425.2U CN218313610U (en) 2022-09-08 2022-09-08 Servo control-based power-assisted mechanical arm

Publications (1)

Publication Number Publication Date
CN218313610U true CN218313610U (en) 2023-01-17

Family

ID=84835265

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202222380425.2U Expired - Fee Related CN218313610U (en) 2022-09-08 2022-09-08 Servo control-based power-assisted mechanical arm

Country Status (1)

Country Link
CN (1) CN218313610U (en)

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20230117

CF01 Termination of patent right due to non-payment of annual fee